{"id":"https://openalex.org/W4387682331","doi":"https://doi.org/10.1109/tro.2023.3323936","title":"Occupancy Grid Mapping Without Ray-Casting for High-Resolution LiDAR Sensors","display_name":"Occupancy Grid Mapping Without Ray-Casting for High-Resolution LiDAR Sensors","publication_year":2023,"publication_date":"2023-10-16","ids":{"openalex":"https://openalex.org/W4387682331","doi":"https://doi.org/10.1109/tro.2023.3323936"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3323936","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3323936","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102243833","display_name":"Yixi Cai","orcid":"https://orcid.org/0000-0003-0321-1164"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yixi Cai","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0003-0321-1164","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028346445","display_name":"Fanze Kong","orcid":"https://orcid.org/0000-0003-2391-3702"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fanze Kong","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0003-2391-3702","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081404350","display_name":"Yunfan Ren","orcid":"https://orcid.org/0000-0002-5392-8924"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yunfan Ren","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-5392-8924","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065969871","display_name":"Fangcheng Zhu","orcid":"https://orcid.org/0000-0001-7999-6784"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fangcheng Zhu","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0001-7999-6784","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086150473","display_name":"Jiarong Lin","orcid":"https://orcid.org/0000-0001-9954-6158"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiarong Lin","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0001-9954-6158","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100460011","display_name":"Fu Zhang","orcid":"https://orcid.org/0000-0002-8636-4168"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fu Zhang","raw_affiliation_strings":["Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-8636-4168","affiliations":[{"raw_affiliation_string":"Mechatronics and Robotic Systems Laboratory, Department of Mechanical Engineering, University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":24.0569,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.99341435,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"40","issue":null,"first_page":"172","last_page":"192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9854000210762024,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.9109021425247192},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.882593035697937},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.7507394552230835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7097175121307373},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.695840060710907},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.543542206287384},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5074970126152039},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.45012426376342773},{"id":"https://openalex.org/keywords/aerial-image","display_name":"Aerial image","score":0.4492911696434021},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4450419247150421},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4164663553237915},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.34968844056129456},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.24528339505195618},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.21969926357269287},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19629859924316406},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1383746862411499},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12319287657737732},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11992383003234863},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11565455794334412},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.10818406939506531},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.091834157705307}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.9109021425247192},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.882593035697937},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.7507394552230835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7097175121307373},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.695840060710907},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.543542206287384},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5074970126152039},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.45012426376342773},{"id":"https://openalex.org/C2776429412","wikidata":"https://www.wikidata.org/wiki/Q4688011","display_name":"Aerial image","level":3,"score":0.4492911696434021},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4450419247150421},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4164663553237915},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.34968844056129456},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.24528339505195618},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.21969926357269287},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19629859924316406},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1383746862411499},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12319287657737732},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11992383003234863},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11565455794334412},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.10818406939506531},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.091834157705307},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2023.3323936","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3323936","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-161174","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-161174","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":73,"referenced_works":["https://openalex.org/W1532701078","https://openalex.org/W1542612979","https://openalex.org/W1822595813","https://openalex.org/W1876676194","https://openalex.org/W1947421145","https://openalex.org/W1966634937","https://openalex.org/W1977189000","https://openalex.org/W1993572304","https://openalex.org/W2000259215","https://openalex.org/W2005417374","https://openalex.org/W2021851106","https://openalex.org/W2053455835","https://openalex.org/W2071906076","https://openalex.org/W2074954154","https://openalex.org/W2094078373","https://openalex.org/W2115579991","https://openalex.org/W2119984419","https://openalex.org/W2122736190","https://openalex.org/W2130684472","https://openalex.org/W2133844819","https://openalex.org/W2139137304","https://openalex.org/W2296228853","https://openalex.org/W2336416123","https://openalex.org/W2410630689","https://openalex.org/W2418134381","https://openalex.org/W2569527682","https://openalex.org/W2607968634","https://openalex.org/W2615547864","https://openalex.org/W2739434881","https://openalex.org/W2758107681","https://openalex.org/W2897916980","https://openalex.org/W2903506349","https://openalex.org/W2906263139","https://openalex.org/W2907106711","https://openalex.org/W2912587656","https://openalex.org/W2945883617","https://openalex.org/W2963627347","https://openalex.org/W2963926543","https://openalex.org/W2979245037","https://openalex.org/W3003747652","https://openalex.org/W3004227484","https://openalex.org/W3011463348","https://openalex.org/W3014910365","https://openalex.org/W3016600231","https://openalex.org/W3035597814","https://openalex.org/W3047616003","https://openalex.org/W3080980548","https://openalex.org/W3085003843","https://openalex.org/W3090386798","https://openalex.org/W3100435238","https://openalex.org/W3102129812","https://openalex.org/W3114626444","https://openalex.org/W3125164440","https://openalex.org/W3133648073","https://openalex.org/W3188485279","https://openalex.org/W4200150166","https://openalex.org/W4210423514","https://openalex.org/W4211092666","https://openalex.org/W4294891500","https://openalex.org/W4312571988","https://openalex.org/W4312878643","https://openalex.org/W4312944585","https://openalex.org/W4313049632","https://openalex.org/W4317796409","https://openalex.org/W4319302559","https://openalex.org/W4322727877","https://openalex.org/W4362500596","https://openalex.org/W4383066061","https://openalex.org/W4383066353","https://openalex.org/W4388145520","https://openalex.org/W6631963404","https://openalex.org/W6633068743","https://openalex.org/W6677702289"],"related_works":["https://openalex.org/W4282043467","https://openalex.org/W4319317934","https://openalex.org/W2105697914","https://openalex.org/W2901265155","https://openalex.org/W2162255319","https://openalex.org/W3033776171","https://openalex.org/W5037887","https://openalex.org/W1999050017","https://openalex.org/W4293877624","https://openalex.org/W4229444815"],"abstract_inverted_index":{"Occupancy":[0],"mapping":[1,26,203,219],"is":[2],"a":[3,56,81,221,229],"fundamental":[4],"component":[5],"of":[6,17,50,64,67,98,121,159,162,170,214],"robotic":[7],"systems":[8],"to":[9,44,59,91,100],"reason":[10],"about":[11],"the":[12,18,46,61,68,96,109,116,160,163],"unknown":[13],"and":[14,32,167,186,205,224],"known":[15,106],"regions":[16,65],"environment.":[19],"This":[20,124],"article":[21],"presents":[22],"an":[23,75,142,225],"efficient":[24,76],"occupancy":[25,51,62,171,218],"framework":[27,39,190],"for":[28,216],"high-resolution":[29,230],"light":[30],"detection":[31],"ranging":[33],"(LiDAR)":[34],"sensors,":[35],"termed":[36],"D-Map.":[37,150],"The":[38],"introduces":[40],"three":[41],"main":[42],"novelties":[43],"address":[45],"computational":[47],"efficiency":[48,132,193],"challenges":[49],"mapping.":[52],"First,":[53],"we":[54,73,104,147,155,174],"use":[55],"depth":[57,164],"image":[58,165],"determine":[60],"state":[63],"instead":[66],"traditional":[69],"ray-casting":[70],"method.":[71],"Second,":[72],"introduce":[74],"on-tree":[77],"update":[78,113,131],"strategy":[79],"on":[80,179,220],"tree-based":[82],"map":[83,110,135],"structure.":[84],"These":[85],"two":[86,211],"techniques":[87],"avoid":[88],"redundant":[89],"visits":[90],"small":[92],"cells,":[93],"significantly":[94],"reducing":[95,134],"number":[97],"cells":[99,107],"be":[101],"updated.":[102],"Third,":[103],"remove":[105],"from":[108],"at":[111],"each":[112],"by":[114,133],"leveraging":[115],"low":[117],"false":[118],"alarm":[119],"rate":[120],"LiDAR":[122,181],"sensors.":[123],"approach":[125],"not":[126],"only":[127],"enhances":[128],"our":[129,153],"framework's":[130],"size":[136],"but":[137],"also":[138],"endows":[139],"it":[140],"with":[141,196],"interesting":[143],"decremental":[144],"property,":[145],"which":[146],"have":[148],"named":[149],"To":[151],"support":[152],"design,":[154],"provide":[156],"theoretical":[157],"analyzes":[158],"accuracy":[161,204],"projection":[166],"time":[168],"complexity":[169],"updates.":[172],"Furthermore,":[173],"conduct":[175],"extensive":[176],"benchmark":[177],"experiments":[178],"various":[180],"sensors":[182],"in":[183,194],"both":[184],"public":[185],"private":[187],"datasets.":[188],"Our":[189],"demonstrates":[191],"superior":[192],"comparison":[195],"other":[197],"state-of-the-art":[198],"methods":[199],"while":[200],"maintaining":[201],"comparable":[202],"high":[206],"memory":[207],"efficiency.":[208],"We":[209],"demonstrate":[210],"real-world":[212],"applications":[213],"D-Map":[215],"real-time":[217],"handheld":[222],"device":[223],"aerial":[226],"platform":[227],"carrying":[228],"LiDAR.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":8}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-10-10T00:00:00"}